Interface for a gaze controller. More...

#include <yarp/dev/GazeControl.h>

Public Member Functions
virtual	~IGazeControl ()
	Destructor.

virtual bool	setTrackingMode (const bool f)=0
	Set the controller in tracking or non-tracking mode.

virtual bool	getTrackingMode (bool *f)=0
	Get the current controller mode.

virtual bool	setStabilizationMode (const bool f)=0
	Turn on/off the gaze stabilization.

virtual bool	getStabilizationMode (bool *f)=0
	Get the current stabilization mode.

virtual bool	getFixationPoint (yarp::sig::Vector &fp, yarp::os::Stamp *stamp=NULL)=0
	Get the current fixation point.

virtual bool	getAngles (yarp::sig::Vector &ang, yarp::os::Stamp *stamp=NULL)=0
	Get the current gaze configuration in terms of azimuth and elevation angles wrt to the absolute reference frame along with the vergence.

virtual bool	lookAtFixationPoint (const yarp::sig::Vector &fp)=0
	Move the gaze to a specified fixation point in cartesian space.

virtual bool	lookAtAbsAngles (const yarp::sig::Vector &ang)=0
	Move the gaze to a specified gazing angles configuration given in the absolute reference frame.

virtual bool	lookAtRelAngles (const yarp::sig::Vector &ang)=0
	Move the gaze to a specified gazing angles configuration given in the relative reference frame.

virtual bool	lookAtMonoPixel (const int camSel, const yarp::sig::Vector &px, const double z=1.0)=0
	Move the gaze to a location specified by a pixel within the image plane.

virtual bool	lookAtMonoPixelWithVergence (const int camSel, const yarp::sig::Vector &px, const double ver)=0
	Move the gaze to a location specified by a pixel within the image plane using the vergence.

virtual bool	lookAtStereoPixels (const yarp::sig::Vector &pxl, const yarp::sig::Vector &pxr)=0
	Move the gaze to a location specified by two pixels representing the same 3-d point as seen from within both image planes.

virtual bool	lookAtFixationPointSync (const yarp::sig::Vector &fp)=0
	Move the gaze to a specified fixation point in cartesian space.

virtual bool	lookAtAbsAnglesSync (const yarp::sig::Vector &ang)=0
	Move the gaze to a specified gazing angles configuration given in the absolute reference frame.

virtual bool	lookAtRelAnglesSync (const yarp::sig::Vector &ang)=0
	Move the gaze to a specified gazing angles configuration given in the relative reference frame.

virtual bool	lookAtMonoPixelSync (const int camSel, const yarp::sig::Vector &px, const double z=1.0)=0
	Move the gaze to a location specified by a pixel within the image plane.

virtual bool	lookAtMonoPixelWithVergenceSync (const int camSel, const yarp::sig::Vector &px, const double ver)=0
	Move the gaze to a location specified by a pixel within the image plane using the vergence.

virtual bool	lookAtStereoPixelsSync (const yarp::sig::Vector &pxl, const yarp::sig::Vector &pxr)=0
	Move the gaze to a location specified by two pixels representing the same 3-d point as seen from within both image planes.

virtual bool	getNeckTrajTime (double *t)=0
	Get the current trajectory duration for the neck actuators.

virtual bool	getEyesTrajTime (double *t)=0
	Get the current trajectory duration for the eyes actuators.

virtual bool	getVORGain (double *gain)=0
	Get the current gain used to weigh the vestibulo-ocular reflex (VOR).

virtual bool	getOCRGain (double *gain)=0
	Get the current gain used to weigh the oculo-collic reflex (OCR).

virtual bool	getSaccadesMode (bool *f)=0
	Query whether the very fast eyes movements (saccades) will be employed or not.

virtual bool	getSaccadesInhibitionPeriod (double *period)=0
	Get the current inhibition period for saccadic movements.

virtual bool	getSaccadesActivationAngle (double *angle)=0
	Get the current activation angle for saccadic movements.

virtual bool	getLeftEyePose (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL)=0
	Get the current pose of the left eye frame.

virtual bool	getRightEyePose (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL)=0
	Get the current pose of the right eye frame.

virtual bool	getHeadPose (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL)=0
	Get the current pose of the head frame.

virtual bool	get2DPixel (const int camSel, const yarp::sig::Vector &x, yarp::sig::Vector &px)=0
	Get the 2-d pixel point - whose cartesian coordinates are given wrt the root reference frame - that results from the projection into the image plane.

virtual bool	get3DPoint (const int camSel, const yarp::sig::Vector &px, const double z, yarp::sig::Vector &x)=0
	Get the 3-d point whose pixel projection and z-component in the camera frame are given.

virtual bool	get3DPointOnPlane (const int camSel, const yarp::sig::Vector &px, const yarp::sig::Vector &plane, yarp::sig::Vector &x)=0
	Get the 3-d point - whose pixel projection is given - that results from the projection into a plane specified in the space.

virtual bool	get3DPointFromAngles (const int mode, const yarp::sig::Vector &ang, yarp::sig::Vector &x)=0
	Get the 3-d coordinates corresponding to the angular positions.

virtual bool	getAnglesFrom3DPoint (const yarp::sig::Vector &x, yarp::sig::Vector &ang)=0
	Get the absolute angular coordinates corresponding to the 3-d point.

virtual bool	triangulate3DPoint (const yarp::sig::Vector &pxl, const yarp::sig::Vector &pxr, yarp::sig::Vector &x)=0
	Triangulate two points given in the image planes to find the corresponding 3-d point in the space.

virtual bool	getJointsDesired (yarp::sig::Vector &qdes)=0
	Get the joints target values where the controller is moving the system to.

virtual bool	getJointsVelocities (yarp::sig::Vector &qdot)=0
	Get the joints velocities commanded by the controller.

virtual bool	getStereoOptions (yarp::os::Bottle &options)=0
	Return the current options used by the stereo approach.

virtual bool	setNeckTrajTime (const double t)=0
	Set the duration of the trajectory for the neck actuators.

virtual bool	setEyesTrajTime (const double t)=0
	Set the duration of the trajectory for the eyes actuators.

virtual bool	setVORGain (const double gain)=0
	Set the gain used to weigh the vestibulo-ocular reflex (VOR).

virtual bool	setOCRGain (const double gain)=0
	Set the gain used to weigh the oculo-collic reflex (OCR).

virtual bool	setSaccadesMode (const bool f)=0
	Enable/disable the use of very fast eyes movements (saccades).

virtual bool	setSaccadesInhibitionPeriod (const double period)=0
	Set the inhibition period for saccadic movements.

virtual bool	setSaccadesActivationAngle (const double angle)=0
	Set the activation angle for saccadic movements.

virtual bool	setStereoOptions (const yarp::os::Bottle &options)=0
	Update the options used by the stereo approach.

virtual bool	bindNeckPitch (const double min, const double max)=0
	Bind the neck pitch within a specified range.

virtual bool	blockNeckPitch (const double val)=0
	Block the neck pitch at a specified angle.

virtual bool	blockNeckPitch ()=0
	Block the neck pitch at the current angle.

virtual bool	bindNeckRoll (const double min, const double max)=0
	Bind the neck roll within a specified range.

virtual bool	blockNeckRoll (const double val)=0
	Block the neck roll at a specified angle.

virtual bool	blockNeckRoll ()=0
	Block the neck roll at the current angle.

virtual bool	bindNeckYaw (const double min, const double max)=0
	Bind the neck yaw within a specified range.

virtual bool	blockNeckYaw (const double val)=0
	Block the neck yaw at a specified angle.

virtual bool	blockNeckYaw ()=0
	Block the neck yaw at the current angle.

virtual bool	blockEyes (const double ver)=0
	Block the eyes to look always straight ahead (the tilt can vary) with a specified vergence angle.

virtual bool	blockEyes ()=0
	Block the eyes to look always straight ahead (the tilt can vary) with the current vergence angle.

virtual bool	getNeckPitchRange (double min, double max)=0
	Return the current neck pitch range.

virtual bool	getNeckRollRange (double min, double max)=0
	Return the current neck roll range.

virtual bool	getNeckYawRange (double min, double max)=0
	Return the current neck yaw range.

virtual bool	getBlockedVergence (double *ver)=0
	Return the current vergence angle used to block the eyes.

virtual bool	clearNeckPitch ()=0
	Unblock the neck pitch.

virtual bool	clearNeckRoll ()=0
	Unblock the neck roll.

virtual bool	clearNeckYaw ()=0
	Unblock the neck yaw.

virtual bool	clearEyes ()=0
	Unblock the eyes.

virtual bool	getNeckAngleUserTolerance (double *angle)=0
	Return the current tolerance defined by the user to gaze at the target with the neck, meaning that the neck will turn to the target with a final "misalignment" specified by this tolerance; the residual rotation will be covered by the eyes movement.

virtual bool	setNeckAngleUserTolerance (const double angle)=0
	Specify a new tolerance to gaze at the target with the neck.

virtual bool	checkMotionDone (bool *f)=0
	Check once if the current trajectory is terminated.

virtual bool	waitMotionDone (const double period=0.1, const double timeout=0.0)=0
	Wait until the current trajectory is terminated.

virtual bool	checkSaccadeDone (bool *f)=0
	Check once if the saccade is terminated.

virtual bool	waitSaccadeDone (const double period=0.1, const double timeout=0.0)=0
	Wait until the current saccade is terminated.

virtual bool	stopControl ()=0
	Ask for an immediate stop of the motion.

virtual bool	storeContext (int *id)=0
	Store the controller context.

virtual bool	restoreContext (const int id)=0
	Restore the controller context previously stored.

virtual bool	deleteContext (const int id)=0
	Delete a specified controller context.

virtual bool	getInfo (yarp::os::Bottle &info)=0
	Return useful info on the operating state of the controller.

virtual bool	registerEvent (yarp::dev::GazeEvent &event)=0
	Register an event.

virtual bool	unregisterEvent (yarp::dev::GazeEvent &event)=0
	Unregister an event.

virtual bool	tweakSet (const yarp::os::Bottle &options)=0
	Tweak low-level controller's parameters.

virtual bool	tweakGet (yarp::os::Bottle &options)=0
	Return low-level controller's parameters.

Detailed Description

Interface for a gaze controller.

Please read carefully the documentation.

Definition at line 132 of file GazeControl.h.

Constructor & Destructor Documentation

◆ ~IGazeControl()

yarp::dev::IGazeControl::~IGazeControl ( )

virtualdefault

Destructor.

Member Function Documentation

◆ bindNeckPitch()

virtual bool yarp::dev::IGazeControl::bindNeckPitch	(	const double	min,
		const double	max
	)

pure virtual

Bind the neck pitch within a specified range.

[wait for reply]

Parameters

min	the minimum value of the range (in degrees).
max	the maximum value of the range (in degrees).

Returns: true/false on success/failure.

◆ bindNeckRoll()

virtual bool yarp::dev::IGazeControl::bindNeckRoll	(	const double	min,
		const double	max
	)

pure virtual

Bind the neck roll within a specified range.

[wait for reply]

Parameters

min	the minimum value of the range (in degrees).
max	the maximum value of the range (in degrees).

Returns: true/false on success/failure.

◆ bindNeckYaw()

virtual bool yarp::dev::IGazeControl::bindNeckYaw	(	const double	min,
		const double	max
	)

pure virtual

Bind the neck yaw within a specified range.

[wait for reply]

Parameters

min	the minimum value of the range (in degrees).
max	the maximum value of the range (in degrees).

Returns: true/false on success/failure.

◆ blockEyes() [1/2]

virtual bool yarp::dev::IGazeControl::blockEyes ( )

pure virtual

Block the eyes to look always straight ahead (the tilt can vary) with the current vergence angle.

[wait for reply]

Returns: true/false on success/failure.

◆ blockEyes() [2/2]

virtual bool yarp::dev::IGazeControl::blockEyes ( const double ver )

pure virtual

Block the eyes to look always straight ahead (the tilt can vary) with a specified vergence angle.

[wait for reply]

Parameters

ver	the vergence angle (in degrees).

Returns: true/false on success/failure.

◆ blockNeckPitch() [1/2]

virtual bool yarp::dev::IGazeControl::blockNeckPitch ( )

pure virtual

Block the neck pitch at the current angle.

[wait for reply]

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ blockNeckPitch() [2/2]

virtual bool yarp::dev::IGazeControl::blockNeckPitch ( const double val )

pure virtual

Block the neck pitch at a specified angle.

[wait for reply]

Parameters

val	the angle value at which block the joint (in degrees).

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ blockNeckRoll() [1/2]

virtual bool yarp::dev::IGazeControl::blockNeckRoll ( )

pure virtual

Block the neck roll at the current angle.

[wait for reply]

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ blockNeckRoll() [2/2]

virtual bool yarp::dev::IGazeControl::blockNeckRoll ( const double val )

pure virtual

Block the neck roll at a specified angle.

[wait for reply]

Parameters

val	the angle value at which block the joint (in degrees).

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ blockNeckYaw() [1/2]

virtual bool yarp::dev::IGazeControl::blockNeckYaw ( )

pure virtual

Block the neck yaw at the current angle.

[wait for reply]

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ blockNeckYaw() [2/2]

virtual bool yarp::dev::IGazeControl::blockNeckYaw ( const double val )

pure virtual

Block the neck yaw at a specified angle.

[wait for reply]

Parameters

val	the angle value at which block the joint (in degrees).

Returns: true/false on success/failure.

Note: The possibility to block the neck joints is given in order to move just the eyes.

◆ checkMotionDone()

virtual bool yarp::dev::IGazeControl::checkMotionDone ( bool * f )

pure virtual

Check once if the current trajectory is terminated.

[wait for reply]

Parameters

f	where the result is returned.

Returns: true/false on success/failure.

◆ checkSaccadeDone()

virtual bool yarp::dev::IGazeControl::checkSaccadeDone ( bool * f )

pure virtual

Check once if the saccade is terminated.

[wait for reply]

Parameters

f	where the result is returned.

Returns: true/false on success/failure.

◆ clearEyes()

virtual bool yarp::dev::IGazeControl::clearEyes ( )

pure virtual

Unblock the eyes.

[wait for reply]

Returns: true/false on success/failure.

◆ clearNeckPitch()

virtual bool yarp::dev::IGazeControl::clearNeckPitch ( )

pure virtual

Unblock the neck pitch.

[wait for reply]

Returns: true/false on success/failure.

◆ clearNeckRoll()

virtual bool yarp::dev::IGazeControl::clearNeckRoll ( )

pure virtual

Unblock the neck roll.

[wait for reply]

Returns: true/false on success/failure.

◆ clearNeckYaw()

virtual bool yarp::dev::IGazeControl::clearNeckYaw ( )

pure virtual

Unblock the neck yaw.

[wait for reply]

Returns: true/false on success/failure.

◆ deleteContext()

virtual bool yarp::dev::IGazeControl::deleteContext ( const int id )

pure virtual

Delete a specified controller context.

[wait for reply]

Parameters

id	specify the context id to be removed.

Returns: true/false on success/failure.

◆ get2DPixel()

virtual bool yarp::dev::IGazeControl::get2DPixel	(	const int	camSel,
		const yarp::sig::Vector &	x,
		yarp::sig::Vector &	px
	)

pure virtual

Get the 2-d pixel point - whose cartesian coordinates are given wrt the root reference frame - that results from the projection into the image plane.

[wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
x	the 3-d point given wrt the root reference frame [m].
px	the returned 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.

Returns: true/false on success/failure.

◆ get3DPoint()

virtual bool yarp::dev::IGazeControl::get3DPoint	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const double	z,
		yarp::sig::Vector &	x
	)

pure virtual

Get the 3-d point whose pixel projection and z-component in the camera frame are given.

[wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
z	the z-component of the point in the eye's reference frame [m].
x	the returned 3-d point given wrt the root reference frame [m].

Returns: true/false on success/failure.

◆ get3DPointFromAngles()

virtual bool yarp::dev::IGazeControl::get3DPointFromAngles	(	const int	mode,
		const yarp::sig::Vector &	ang,
		yarp::sig::Vector &	x
	)

pure virtual

Get the 3-d coordinates corresponding to the angular positions.

[wait for reply]

Parameters

mode	selects the angular mode: 0 for absolute, 1 for relative mode.
ang	a 3-d vector which contains the actual angles azimuth/elevation/vergence (degrees).
x	the returned 3-d point given wrt the root reference frame [m].

Returns: true/false on success/failure.

◆ get3DPointOnPlane()

virtual bool yarp::dev::IGazeControl::get3DPointOnPlane	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const yarp::sig::Vector &	plane,
		yarp::sig::Vector &	x
	)

pure virtual

Get the 3-d point - whose pixel projection is given - that results from the projection into a plane specified in the space.

[wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
plane	the 4-d vector containing the components (a,b,c,d) of the plane expressed wrt the root reference frame in its implicit form as: ax+by+cz+d=0.
x	the returned 3-d point given wrt the root reference frame [m].

Returns: true/false on success/failure.

◆ getAngles()

virtual bool yarp::dev::IGazeControl::getAngles	(	yarp::sig::Vector &	ang,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current gaze configuration in terms of azimuth and elevation angles wrt to the absolute reference frame along with the vergence.

All angles are expressed in degrees. [do not wait for reply]

Parameters

ang	a 3-d vector which is filled with the actual angles azimuth/elevation/vergence (degrees).
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

Note: The absolute reference frame for the azimuth/elevation couple is head-centered with the robot in rest configuration (i.e. torso and head angles zeroed).

◆ getAnglesFrom3DPoint()

virtual bool yarp::dev::IGazeControl::getAnglesFrom3DPoint	(	const yarp::sig::Vector &	x,
		yarp::sig::Vector &	ang
	)

pure virtual

Get the absolute angular coordinates corresponding to the 3-d point.

[wait for reply]

Parameters

x	the 3-d point given wrt the root reference frame [m].
ang	a 3-d vector which is filled with the azimuth/elevation/vergence coordinates in the absolute mode (degrees).

Returns: true/false on success/failure.

Note: Only absolute angular frame can be referred.

◆ getBlockedVergence()

virtual bool yarp::dev::IGazeControl::getBlockedVergence ( double * ver )

pure virtual

Return the current vergence angle used to block the eyes.

[wait for reply]

Parameters

ver	the vergence angle [deg].

Returns: true/false on success/failure.

Note: negative values of returned vergence correspond to unblocked eyes.

◆ getEyesTrajTime()

virtual bool yarp::dev::IGazeControl::getEyesTrajTime ( double * t )

pure virtual

Get the current trajectory duration for the eyes actuators.

[wait for reply]

Parameters

t	time (seconds).

Returns: true/false on success/failure.

◆ getFixationPoint()

virtual bool yarp::dev::IGazeControl::getFixationPoint	(	yarp::sig::Vector &	fp,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current fixation point.

[do not wait for reply]

Parameters

fp	a 3-d vector which is filled with the actual fixation point x,y,z [m].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

◆ getHeadPose()

virtual bool yarp::dev::IGazeControl::getHeadPose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current pose of the head frame.

[wait for reply]

Parameters

x	a 3-d vector which is filled with the actual position x,y,z [m].
o	a 4-d vector which is filled with the actual orientation using axis-angle representation xa, ya, za, theta [m]/[rad].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

Note: The center of the head frame is located in the middle of the baseline that connects the two eyes. The orientation of its frame is fixed with respect to the head with z-axis pointing forward, x-axis pointing rightward and y-axis pointing downward.

◆ getInfo()

virtual bool yarp::dev::IGazeControl::getInfo ( yarp::os::Bottle & info )

pure virtual

Return useful info on the operating state of the controller.

[wait for reply]

Parameters

info	a property-like bottle containing the info.

Returns: true/false on success/failure.

◆ getJointsDesired()

virtual bool yarp::dev::IGazeControl::getJointsDesired ( yarp::sig::Vector & qdes )

pure virtual

Get the joints target values where the controller is moving the system to.

[wait for reply]

Parameters

qdes	a vector which is filled with the desired joints values (degrees).

Returns: true/false on success/failure.

◆ getJointsVelocities()

virtual bool yarp::dev::IGazeControl::getJointsVelocities ( yarp::sig::Vector & qdot )

pure virtual

Get the joints velocities commanded by the controller.

[wait for reply]

Parameters

qdot	a vector which is filled with the joints velocities (deg/s).

Returns: true/false on success/failure.

◆ getLeftEyePose()

virtual bool yarp::dev::IGazeControl::getLeftEyePose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current pose of the left eye frame.

[wait for reply]

Parameters

x	a 3-d vector which is filled with the actual position x,y,z [m].
o	a 4-d vector which is filled with the actual orientation using axis-angle representation xa, ya, za, theta [m]/[rad].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

◆ getNeckAngleUserTolerance()

virtual bool yarp::dev::IGazeControl::getNeckAngleUserTolerance ( double * angle )

pure virtual

Return the current tolerance defined by the user to gaze at the target with the neck, meaning that the neck will turn to the target with a final "misalignment" specified by this tolerance; the residual rotation will be covered by the eyes movement.

By default, the tolerance is zero, that is the neck will be perfectly aligned with the target. [wait for reply]

Parameters

angle the location where to store the current user tolerance [deg].

Returns: true/false on success/failure.

◆ getNeckPitchRange()

virtual bool yarp::dev::IGazeControl::getNeckPitchRange	(	double *	min,
		double *	max
	)

pure virtual

Return the current neck pitch range.

[wait for reply]

Parameters

min	the location where to store the minimum of the range [deg].
max	the location where to store the maximum of the range [deg].

Returns: true/false on success/failure.

◆ getNeckRollRange()

virtual bool yarp::dev::IGazeControl::getNeckRollRange	(	double *	min,
		double *	max
	)

pure virtual

Return the current neck roll range.

[wait for reply]

Parameters

min	the location where to store the minimum of the range [deg].
max	the location where to store the maximum of the range [deg].

Returns: true/false on success/failure.

◆ getNeckTrajTime()

virtual bool yarp::dev::IGazeControl::getNeckTrajTime ( double * t )

pure virtual

Get the current trajectory duration for the neck actuators.

[wait for reply]

Parameters

t	time (seconds).

Returns: true/false on success/failure.

◆ getNeckYawRange()

virtual bool yarp::dev::IGazeControl::getNeckYawRange	(	double *	min,
		double *	max
	)

pure virtual

Return the current neck yaw range.

[wait for reply]

Parameters

min	the location where to store the minimum of the range [deg].
max	the location where to store the maximum of the range [deg].

Returns: true/false on success/failure.

◆ getOCRGain()

virtual bool yarp::dev::IGazeControl::getOCRGain ( double * gain )

pure virtual

Get the current gain used to weigh the oculo-collic reflex (OCR).

[wait for reply]

Parameters

gain	the current gain.

Returns: true/false on success/failure.

◆ getRightEyePose()

virtual bool yarp::dev::IGazeControl::getRightEyePose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current pose of the right eye frame.

[wait for reply]

Parameters

x	a 3-d vector which is filled with the actual position x,y,z [m].
o	a 4-d vector which is filled with the actual orientation using axis-angle representation xa, ya, za, theta [m]/[rad].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

◆ getSaccadesActivationAngle()

virtual bool yarp::dev::IGazeControl::getSaccadesActivationAngle ( double * angle )

pure virtual

Get the current activation angle for saccadic movements.

[wait for reply]

Parameters

angle the current activation angle [deg].

Returns: true/false on success/failure.

◆ getSaccadesInhibitionPeriod()

virtual bool yarp::dev::IGazeControl::getSaccadesInhibitionPeriod ( double * period )

pure virtual

Get the current inhibition period for saccadic movements.

[wait for reply]

Parameters

period the current inhibition period [s].

Returns: true/false on success/failure.

◆ getSaccadesMode()

virtual bool yarp::dev::IGazeControl::getSaccadesMode ( bool * f )

pure virtual

Query whether the very fast eyes movements (saccades) will be employed or not.

[wait for reply]

Parameters

f	the current saccades mode.

Returns: true/false on success/failure.

◆ getStabilizationMode()

virtual bool yarp::dev::IGazeControl::getStabilizationMode ( bool * f )

pure virtual

Get the current stabilization mode.

[wait for reply]

Parameters

f	here is returned true if controller is stabilizing the gaze, false otherwise.

Returns: true/false on success/failure.

◆ getStereoOptions()

virtual bool yarp::dev::IGazeControl::getStereoOptions ( yarp::os::Bottle & options )

pure virtual

Return the current options used by the stereo approach.

[wait for reply]

Parameters

options is a property-like bottle containing the current configuration employed by the internal pid.

Returns: true/false on success/failure.

Note: The returned bottle looks like as follows: (Kp (1 2 ...)) (Ki (1 2 ...)) (Kd (1 2 ...)) (Wp (...)) ...; the satLim property is returned ordered by rows.

◆ getTrackingMode()

virtual bool yarp::dev::IGazeControl::getTrackingMode ( bool * f )

pure virtual

Get the current controller mode.

[wait for reply]

Parameters

f	here is returned true if controller is in tracking mode, false otherwise.

Returns: true/false on success/failure.

◆ getVORGain()

virtual bool yarp::dev::IGazeControl::getVORGain ( double * gain )

pure virtual

Get the current gain used to weigh the vestibulo-ocular reflex (VOR).

[wait for reply]

Parameters

gain	the current gain.

Returns: true/false on success/failure.

◆ lookAtAbsAngles()

virtual bool yarp::dev::IGazeControl::lookAtAbsAngles ( const yarp::sig::Vector & ang )

pure virtual

Move the gaze to a specified gazing angles configuration given in the absolute reference frame.

[do not wait for reply]

Parameters

ang	a 3-d vector which contains the desired gazing angles (azimuth/elevation/vergence) expressed in the absolute reference frame (degrees).

Returns: true/false on success/failure.

Note: The absolute reference frame for the azimuth/elevation couple is head-centered with the robot in rest configuration (i.e. torso and head angles zeroed).

◆ lookAtAbsAnglesSync()

virtual bool yarp::dev::IGazeControl::lookAtAbsAnglesSync ( const yarp::sig::Vector & ang )

pure virtual

Move the gaze to a specified gazing angles configuration given in the absolute reference frame.

[wait for reply]

Parameters

ang	a 3-d vector which contains the desired gazing angles (azimuth/elevation/vergence) expressed in the absolute reference frame (degrees).

Returns: true/false on success/failure.

Note: The absolute reference frame for the azimuth/elevation couple is head-centered with the robot in rest configuration (i.e. torso and head angles zeroed).

◆ lookAtFixationPoint()

virtual bool yarp::dev::IGazeControl::lookAtFixationPoint ( const yarp::sig::Vector & fp )

pure virtual

Move the gaze to a specified fixation point in cartesian space.

[do not wait for reply]

Parameters

fp	a 3-d vector which contains the desired fixation point where to look at x,y,z.

Returns: true/false on success/failure.

◆ lookAtFixationPointSync()

virtual bool yarp::dev::IGazeControl::lookAtFixationPointSync ( const yarp::sig::Vector & fp )

pure virtual

Move the gaze to a specified fixation point in cartesian space.

[wait for reply]

Parameters

fp	a 3-d vector which contains the desired fixation point where to look at x,y,z.

Returns: true/false on success/failure.

◆ lookAtMonoPixel()

virtual bool yarp::dev::IGazeControl::lookAtMonoPixel	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const double	z = `1.0`
	)

pure virtual

Move the gaze to a location specified by a pixel within the image plane.

[do not wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
z	the z-component of the point in the eye's reference frame [m]. A default value of 1.0 is assumed.

Returns: true/false on success/failure.

Note: The component z can be seen also as the distance [m] from the proper image plane once thought to extend towards infinity.

◆ lookAtMonoPixelSync()

virtual bool yarp::dev::IGazeControl::lookAtMonoPixelSync	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const double	z = `1.0`
	)

pure virtual

Move the gaze to a location specified by a pixel within the image plane.

[wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
z	the z-component of the point in the eye's reference frame [m]. A default value of 1.0 is assumed.

Returns: true/false on success/failure.

Note: The component z can be seen also as the distance [m] from the proper image plane once thought to extend towards infinity.

◆ lookAtMonoPixelWithVergence()

virtual bool yarp::dev::IGazeControl::lookAtMonoPixelWithVergence	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const double	ver
	)

pure virtual

Move the gaze to a location specified by a pixel within the image plane using the vergence.

[do not wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
ver	the vergence angle given in degrees.

Returns: true/false on success/failure.

◆ lookAtMonoPixelWithVergenceSync()

virtual bool yarp::dev::IGazeControl::lookAtMonoPixelWithVergenceSync	(	const int	camSel,
		const yarp::sig::Vector &	px,
		const double	ver
	)

pure virtual

Move the gaze to a location specified by a pixel within the image plane using the vergence.

[wait for reply]

Parameters

camSel	selects the image plane: 0 for the left, 1 for the right.
px	a 2-d vector which contains the (u,v) coordinates of the pixel within the image plane.
ver	the vergence angle given in degrees.

Returns: true/false on success/failure.

◆ lookAtRelAngles()

virtual bool yarp::dev::IGazeControl::lookAtRelAngles ( const yarp::sig::Vector & ang )

pure virtual

Move the gaze to a specified gazing angles configuration given in the relative reference frame.

[do not wait for reply]

Parameters

ang	a 3-d vector which contains the desired gazing angles (azimuth/elevation/vergence) expressed in the relative reference frame (degrees).

Returns: true/false on success/failure.

Note: The relative reference frame for the azimuth/elevation couple is head-centered; the center of this frame is located in the middle of the baseline that connects the two eyes.

◆ lookAtRelAnglesSync()

virtual bool yarp::dev::IGazeControl::lookAtRelAnglesSync ( const yarp::sig::Vector & ang )

pure virtual

Move the gaze to a specified gazing angles configuration given in the relative reference frame.

[wait for reply]

Parameters

ang	a 3-d vector which contains the desired gazing angles (azimuth/elevation/vergence) expressed in the relative reference frame (degrees).

Returns: true/false on success/failure.

Note: The relative reference frame for the azimuth/elevation couple is head-centered; the center of this frame is located in the middle of the baseline that connects the two eyes.

◆ lookAtStereoPixels()

virtual bool yarp::dev::IGazeControl::lookAtStereoPixels	(	const yarp::sig::Vector &	pxl,
		const yarp::sig::Vector &	pxr
	)

pure virtual

Move the gaze to a location specified by two pixels representing the same 3-d point as seen from within both image planes.

[do not wait for reply]

Parameters

pxl	a 2-d vector which contains the (u,v) coordinates of the pixel within the left image plane.
pxr	a 2-d vector which contains the (u,v) coordinates of the pixel within the right image plane.

Returns: true/false on success/failure.

Note: This strategy employs the monocular approach coupled with a pid that varies the distance z incrementally according to the actual error: to achieve the target it is thus required to provide the visual feedback continuously.

◆ lookAtStereoPixelsSync()

virtual bool yarp::dev::IGazeControl::lookAtStereoPixelsSync	(	const yarp::sig::Vector &	pxl,
		const yarp::sig::Vector &	pxr
	)

pure virtual

Move the gaze to a location specified by two pixels representing the same 3-d point as seen from within both image planes.

[wait for reply]

Parameters

pxl	a 2-d vector which contains the (u,v) coordinates of the pixel within the left image plane.
pxr	a 2-d vector which contains the (u,v) coordinates of the pixel within the right image plane.

Returns: true/false on success/failure.

Note: This strategy employs the monocular approach coupled with a pid that varies the distance z incrementally according to the actual error: to achieve the target it is thus required to provide the visual feedback continuously.

◆ registerEvent()

virtual bool yarp::dev::IGazeControl::registerEvent ( yarp::dev::GazeEvent & event )

pure virtual

Register an event.

Parameters

event the event to be registered.

Returns: true/false on success/failure.

Note: the special type "*" can be used to attach a callback to all the available events.

◆ restoreContext()

virtual bool yarp::dev::IGazeControl::restoreContext ( const int id )

pure virtual

Restore the controller context previously stored.

[wait for reply]

Parameters

id	specify the context id to be restored.

Returns: true/false on success/failure.

Note: The context comprises the values of internal controller variables, such as the tracking mode, the trajectory time and so on.

◆ setEyesTrajTime()

virtual bool yarp::dev::IGazeControl::setEyesTrajTime ( const double t )

pure virtual

Set the duration of the trajectory for the eyes actuators.

[wait for reply]

Parameters

t	time (seconds).

Returns: true/false on success/failure.

◆ setNeckAngleUserTolerance()

virtual bool yarp::dev::IGazeControl::setNeckAngleUserTolerance ( const double angle )

pure virtual

Specify a new tolerance to gaze at the target with the neck.

[wait for reply]

Parameters

angle the new angle user tolerance [deg].

Returns: true/false on success/failure.

◆ setNeckTrajTime()

virtual bool yarp::dev::IGazeControl::setNeckTrajTime ( const double t )

pure virtual

Set the duration of the trajectory for the neck actuators.

[wait for reply]

Parameters

t	time (seconds).

Returns: true/false on success/failure.

Note: The neck movements time cannot be set equal or lower than the eyes movements time.

◆ setOCRGain()

virtual bool yarp::dev::IGazeControl::setOCRGain ( const double gain )

pure virtual

Set the gain used to weigh the oculo-collic reflex (OCR).

[wait for reply]

Parameters

gain	the new gain.

Returns: true/false on success/failure.

Note: To disable OCR set gain equal to 0.0.

◆ setSaccadesActivationAngle()

virtual bool yarp::dev::IGazeControl::setSaccadesActivationAngle ( const double angle )

pure virtual

Set the activation angle for saccadic movements.

[wait for reply]

Parameters

angle the new activation angle [deg].

Returns: true/false on success/failure.

◆ setSaccadesInhibitionPeriod()

virtual bool yarp::dev::IGazeControl::setSaccadesInhibitionPeriod ( const double period )

pure virtual

Set the inhibition period for saccadic movements.

[wait for reply]

Parameters

period the new inhibition period [s].

Returns: true/false on success/failure.

◆ setSaccadesMode()

virtual bool yarp::dev::IGazeControl::setSaccadesMode ( const bool f )

pure virtual

Enable/disable the use of very fast eyes movements (saccades).

[wait for reply]

Parameters

f	true/false to enable/disable saccades.

Returns: true/false on success/failure.

Note: Vision processing algorithms might be heavily affected by saccades.

◆ setStabilizationMode()

virtual bool yarp::dev::IGazeControl::setStabilizationMode ( const bool f )

pure virtual

Turn on/off the gaze stabilization.

[wait for reply]

Parameters

f	true to turn on the stabilization, false otherwise.

Returns: true/false on success/failure.

Note: When this mode is turned on, the controller continuously stabilizes the gaze relying on the inertial data.

◆ setStereoOptions()

virtual bool yarp::dev::IGazeControl::setStereoOptions ( const yarp::os::Bottle & options )

pure virtual

Update the options used by the stereo approach.

[wait for reply]

Parameters

options is a property-like bottle containing the new configuration employed by the internal pid.

Returns: true/false on success/failure.

Note: The property parameter should look like as follows: (Kp (1 2 ...)) (Ki (1 2 ...)) (Kd (1 2 ...)) (Wp (...)) ...; The vectors dimension at pid creation time is always retained.; The satLim property must be given ordered by rows.; The sample time Ts should match the rate with which the method lookAtStereoPixels is called by the user.; The special option "dominantEye" (that can be "left"|"right") allows selecting the eye used for the monocular approach.

◆ setTrackingMode()

virtual bool yarp::dev::IGazeControl::setTrackingMode ( const bool f )

pure virtual

Set the controller in tracking or non-tracking mode.

[wait for reply]

Parameters

f	true for tracking mode, false otherwise.

Returns: true/false on success/failure.

Note: In tracking mode when the controller reaches the target, it keeps on running in order to maintain the gaze on target in the presence of external disturbances. In non-tracking mode the controller releases the control of the head as soon as the desired target is reached.

◆ setVORGain()

virtual bool yarp::dev::IGazeControl::setVORGain ( const double gain )

pure virtual

Set the gain used to weigh the vestibulo-ocular reflex (VOR).

[wait for reply]

Parameters

gain	the new gain.

Returns: true/false on success/failure.

Note: To disable VOR set gain equal to 0.0.

◆ stopControl()

virtual bool yarp::dev::IGazeControl::stopControl ( )

pure virtual

Ask for an immediate stop of the motion.

[wait for reply]

Returns: true/false on success/failure.

◆ storeContext()

virtual bool yarp::dev::IGazeControl::storeContext ( int * id )

pure virtual

Store the controller context.

[wait for reply]

Parameters

id	specify where to store the returned context id.

Returns: true/false on success/failure.

Note: The context comprises the values of internal controller variables, such as the tracking mode, the trajectory time and so on.

◆ triangulate3DPoint()

virtual bool yarp::dev::IGazeControl::triangulate3DPoint	(	const yarp::sig::Vector &	pxl,
		const yarp::sig::Vector &	pxr,
		yarp::sig::Vector &	x
	)

pure virtual

Triangulate two points given in the image planes to find the corresponding 3-d point in the space.

[wait for reply]

Parameters

pxl	a 2-d vector which contains the (u,v) coordinates of the pixel within the left image plane.
pxr	a 2-d vector which contains the (u,v) coordinates of the pixel within the right image plane.
x	the returned 3-d point given wrt the root reference frame [m].

Returns: true/false on success/failure.

Note: The triangulation makes use of the mid-point method and thus is deeply affected by uncertainties in the cameras extrinsic parameters and cameras alignment.

◆ tweakGet()

virtual bool yarp::dev::IGazeControl::tweakGet ( yarp::os::Bottle & options )

pure virtual

Return low-level controller's parameters.

[wait for reply]

Parameters

options is a property-like bottle containing the current values of the low-level controller's configuration.

Returns: true/false on success/failure.

Note: This method is intended for accessing low-level controller's configuration.

◆ tweakSet()

virtual bool yarp::dev::IGazeControl::tweakSet ( const yarp::os::Bottle & options )

pure virtual

Tweak low-level controller's parameters.

[wait for reply]

Parameters

options is a property-like bottle containing new values for the low-level controller's configuration.

Returns: true/false on success/failure.

Note: This method is intended for accessing low-level controller's configuration.

◆ unregisterEvent()

virtual bool yarp::dev::IGazeControl::unregisterEvent ( yarp::dev::GazeEvent & event )

pure virtual

Unregister an event.

Parameters

event the event to be unregistered.

Returns: true/false on success/failure.

◆ waitMotionDone()

virtual bool yarp::dev::IGazeControl::waitMotionDone	(	const double	period = `0.1`,
		const double	timeout = `0.0`
	)

pure virtual

Wait until the current trajectory is terminated.

[wait for reply]

Parameters

period	specify the check time period (seconds).
timeout	specify the check expiration time (seconds). If timeout<=0 (as by default) the check will be performed without time limitation.

Returns: true for success, false for failure and timeout expired.

◆ waitSaccadeDone()

virtual bool yarp::dev::IGazeControl::waitSaccadeDone	(	const double	period = `0.1`,
		const double	timeout = `0.0`
	)

pure virtual

Wait until the current saccade is terminated.

[wait for reply]

Parameters

period	specify the check time period (seconds).
timeout	specify the check expiration time (seconds). If timeout<=0 (as by default) the check will be performed without time limitation.

Returns: true for success, false for failure and timeout expired.

The documentation for this class was generated from the following files:

src/libYARP_dev/src/yarp/dev/GazeControl.h
src/libYARP_dev/src/yarp/dev/GazeControl.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IGazeControl()

Member Function Documentation

◆ bindNeckPitch()

◆ bindNeckRoll()

◆ bindNeckYaw()

◆ blockEyes() [1/2]

◆ blockEyes() [2/2]

◆ blockNeckPitch() [1/2]

◆ blockNeckPitch() [2/2]

◆ blockNeckRoll() [1/2]

◆ blockNeckRoll() [2/2]

◆ blockNeckYaw() [1/2]

◆ blockNeckYaw() [2/2]

◆ checkMotionDone()

◆ checkSaccadeDone()

◆ clearEyes()

◆ clearNeckPitch()

◆ clearNeckRoll()

◆ clearNeckYaw()

◆ deleteContext()

◆ get2DPixel()

◆ get3DPoint()

◆ get3DPointFromAngles()

◆ get3DPointOnPlane()

◆ getAngles()

◆ getAnglesFrom3DPoint()

◆ getBlockedVergence()

◆ getEyesTrajTime()

◆ getFixationPoint()

◆ getHeadPose()

◆ getInfo()

◆ getJointsDesired()

◆ getJointsVelocities()

◆ getLeftEyePose()

◆ getNeckAngleUserTolerance()

◆ getNeckPitchRange()

◆ getNeckRollRange()

◆ getNeckTrajTime()

◆ getNeckYawRange()

◆ getOCRGain()

◆ getRightEyePose()

◆ getSaccadesActivationAngle()

◆ getSaccadesInhibitionPeriod()

◆ getSaccadesMode()

◆ getStabilizationMode()

◆ getStereoOptions()

◆ getTrackingMode()

◆ getVORGain()

◆ lookAtAbsAngles()

◆ lookAtAbsAnglesSync()

◆ lookAtFixationPoint()

◆ lookAtFixationPointSync()

◆ lookAtMonoPixel()

◆ lookAtMonoPixelSync()

◆ lookAtMonoPixelWithVergence()

◆ lookAtMonoPixelWithVergenceSync()

◆ lookAtRelAngles()

◆ lookAtRelAnglesSync()

◆ lookAtStereoPixels()

◆ lookAtStereoPixelsSync()

◆ registerEvent()

◆ restoreContext()

◆ setEyesTrajTime()

◆ setNeckAngleUserTolerance()

◆ setNeckTrajTime()

◆ setOCRGain()

◆ setSaccadesActivationAngle()

◆ setSaccadesInhibitionPeriod()

◆ setSaccadesMode()

◆ setStabilizationMode()

◆ setStereoOptions()

◆ setTrackingMode()

◆ setVORGain()

◆ stopControl()

◆ storeContext()

◆ triangulate3DPoint()

◆ tweakGet()